WO2024090869A1

WO2024090869A1 - Flash lidar device

Info

Publication number: WO2024090869A1
Application number: PCT/KR2023/015939
Authority: WO
Inventors: 원용현
Original assignee: 주식회사 버츠
Priority date: 2022-10-26
Filing date: 2023-10-16
Publication date: 2024-05-02
Also published as: KR20240058475A

Abstract

A flash lidar device according to the present invention comprises: a lateral light-emitting part for emitting light of a predetermined wavelength band to a lateral side of the flash lidar device; a receiving mirror for downwardly reflecting the light reflected by a reflector located on the lateral side of the flash lidar device; a reflective mirror located below the receiving mirror to upwardly reflect the light reflected downwardly by the receiving mirror; and a distance image acquisition part located above the receiving mirror. According to the present invention, it is possible to detect a reflector located on the side of a flash lidar device, and since the receiving mirror has a light-transmitting part of the receiving mirror provided therein, there is no need to provide a separate path for the light reflected upward by the reflective mirror, thereby enabling size reduction of the flash lidar device.

Description

flash lidar device

The present invention relates to a flash lidar device that detects an external reflector using light emitted from a light emitting unit.

LIDAR (light detection and ranging) is similar in function to radar (RADAR: radio detection and ranging), but differs from radar in that it uses light, unlike radar, which uses radio waves. In this respect, LIDAR is different from radar. It is also called ‘video radar’.

Until now, airborne LiDAR devices, which are mounted on satellites or aircraft and emit light, and receive light scattered by particles in the atmosphere at ground observatories, have been the mainstream. These airborne LIDAR devices have been used to measure the presence and movement of dust, smoke, aerosols, and cloud particles, along with wind information, and to analyze the distribution of dust particles in the atmosphere or the degree of air pollution. However, recently, research has been actively conducted on terrestrial LiDAR devices in which both the transmitting and receiving optical systems are placed on the ground and perform various functions such as obstacle detection, terrain modeling, and location acquisition of reflectors.

A LiDAR device typically consists of a transmission optical system that emits light to the outside, a reception optical system that receives light reflected by an external reflector, and an analysis unit that calculates the distance from the LiDAR device to the reflector. Here, the analysis unit calculates the distance from the LiDAR device to the reflector through the time difference required for the receiving optical system to receive the light emitted from the transmitting optical system, and further calculates the distance in each direction using light received from various directions. By calculating , a distance map corresponding to the field of view (FOV) can be created.

Among conventional LiDAR devices, there are scan-type LiDAR devices and flash LiDAR devices.

Among scan-type LiDAR devices, the 2D scan-type LiDAR device consists of a single laser and a single receiving element, and typically uses a method of rotating the receiving mirror to capture images in a two-dimensional plane that includes the direction of light travel. obtain. In addition, among scan-type LiDAR devices, the 3D scan-type LiDAR device consists of multiple lasers and multiple receiving elements, and uses a method of rotating the receiving mirror to capture images in a three-dimensional space that includes the direction of light travel. obtain. Since the scan-type LiDAR device uses a rotation method of the receiving mirror, the LiDAR device must be equipped with a motor for rotating the receiving mirror. In addition, the scan-type LiDAR device scans light in the form of pulses and emits light according to the scan toward an external reflector, so the range of light is relatively long, but there is a problem in that the resolution is somewhat low.

In contrast, flash LiDAR devices generally emit light with a wide beam width, and calculate the distance from the LiDAR device to the reflector through a method of acquiring light reflected by an external reflector. In order to implement a flash LiDAR device, a light source with very high power consumption is required, and the structures of the transmitting and receiving optical systems are relatively complex in order to transmit light in multiple directions and simultaneously receive light from multiple directions. .

Recently, attempts have been made to mount LiDAR devices on drones and use them for various purposes such as reconnaissance, surveillance, and delivery of goods. In order for a drone equipped with a LiDAR device to stably perform a given mission, it must be able to detect a reflector located on the side of the LiDAR device, and furthermore, a reflector located below the LiDAR device for landing or charging of the drone. It must also be detectable. In addition, in order for a drone to perform a mission for a long time while equipped with a LiDAR device, it must be possible to fly for a long time under the same power conditions, and for this, miniaturization of the LiDAR device must be preceded.

Prior art document: KR 10-2209500 B1 (2021.01.25.)

The purpose of the present invention is to provide a flash LiDAR device that can detect a reflector located on the side and can be miniaturized.

In addition, the purpose of the present invention is to provide a flash lidar device that can simultaneously detect a reflector located on the side and a reflector located below, and can be miniaturized.

However, the technical problems to be solved by the present invention are not limited to the above-mentioned problems, and other technical problems not mentioned can be clearly understood by those skilled in the art from the description of the invention described below.

In order to achieve the above object, a flash LiDAR device according to the present invention includes a lateral light emitting unit that emits light in a predetermined wavelength band to the side of the flash LiDAR device; a receiving mirror that reflects light reflected by a reflector located on a side of the flash lidar device downward; a reflective mirror located below the receiving mirror and reflecting light reflected downward by the receiving mirror upward; and a distance image acquisition unit located above the receiving mirror, wherein the receiving mirror may be provided with a receiving mirror light transmitting part, and light reflected upward by the reflecting mirror transmits the receiving mirror light transmitting part. The distance image acquisition unit is located above the receiving mirror and detects light in the predetermined wavelength band among the light reflected upward by the reflecting mirror and then passing through the receiving mirror light transmitting unit, An image can be obtained based on the distance of the reflector located on the side.

The flash lidar device is located above the receiving mirror, and among the light reflected upward by the reflecting mirror and then passing through the receiving mirror light transmitting part, light in the predetermined wavelength band is reflected and light in the predetermined wavelength band is reflected. It may further include a first mirror through which other light passes, and light in a predetermined wavelength band reflected by the first mirror may be transmitted to the distance image acquisition unit.

The flash lidar device is located above the receiving mirror and detects light outside the predetermined wavelength band among the light reflected upward by the reflecting mirror and then passing through the receiving mirror light transmitting part, and detects light outside the predetermined wavelength band, It may further include a shape image acquisition unit that acquires an image based on the shape of the reflector located at.

The flash lidar device is located above the receiving mirror, and among the light reflected upward by the reflecting mirror and then passing through the receiving mirror light transmitting part, light in the predetermined wavelength band is transmitted and light in the predetermined wavelength band is transmitted. It may further include a second mirror that reflects other lights, and light outside a predetermined wavelength band reflected by the second mirror may be transmitted to the shape image acquisition unit.

The side light emitting unit may include a plurality of side light emitting elements that emit light in the predetermined wavelength band to the side of the flash lidar device, and the plurality of side light emitting elements are disposed along the outer circumference of the receiving mirror. It can be.

The flash LiDAR device may further include a downward light emitting unit that emits light in the predetermined wavelength band downward of the flash LiDAR device, the reflective mirror may be provided with a reflective mirror light transmitting portion, and the flash The light reflected by the reflector located below the LiDAR device may pass through the reflection mirror light transmitting unit and the receiving mirror light transmitting unit, and the distance image acquisition unit may be connected to the reflector located below the flash LiDAR device. Among the light that is reflected by and then passes through the reflective mirror light transmitting unit and the receiving mirror light transmitting unit, light in the predetermined wavelength band can be additionally detected to obtain an image based on the distance of the reflector located below.

The flash LiDAR device additionally detects light outside the predetermined wavelength band among the light that is reflected by a reflector located below the flash LiDAR device and then passes through the reflective mirror light transmitting portion and the receiving mirror light transmitting portion. Thus, it may further include a shape image acquisition unit that acquires an image based on the shape of the reflector located below.

The downward light emitting unit may be located at a certain distance laterally from the receiving mirror, and light in a predetermined wavelength band emitted from the downward light emitting unit is not incident on the receiving mirror and the reflecting mirror. This can proceed directly downward of the device.

The side light emitting unit includes a light emitting element that emits light in the predetermined wavelength band downward from the flash lidar device; And it may include a path conversion mirror that reflects a predetermined wavelength band emitted from the light emitting element and converts the optical path of the predetermined wavelength band to the side of the flash lidar device.

The path change mirror may be provided with a concave reflective surface, and light in a predetermined wavelength band emitted from the light emitting element may be incident on the concave reflective surface of the path change mirror.

The lateral light emitting unit may further include a lateral angle of view changing lens that changes the angle of view of light in a predetermined wavelength band path-converted by the path conversion mirror.

The lateral light emitting unit may further include a lateral collemating lens that converts light in a predetermined wavelength band emitted downward from the light emitting element into parallel light, and the lateral angle of view change lens includes parallel light by the lateral collemating lens. Light of a predetermined wavelength band converted into light may be incident.

The downward light emitting unit may be located above the receiving mirror, and light in a predetermined wavelength band emitted from the downward light emitting unit travels directly downward of the flash lidar device to the receiving mirror light transmitting unit and the reflection. The mirror light can transmit through the light transmitting part.

The flash lidar device may further include a downward angle of view change lens that changes the angle of view of light in a predetermined wavelength band emitted downward from the downward light emitting unit.

The downward angle of view changing lens may be disposed within the reflective mirror light transmitting portion or below the reflective mirror light transmitting portion.

The downward light emitting unit may include a downward light emitting element that emits light in the predetermined wavelength band downward of the flash lidar device; and a downward collemating lens that converts light in a predetermined wavelength band emitted downward from the downward light emitting element into parallel light, and the downward angle of view change lens includes a predetermined light converted into parallel light by the downward collemating lens. Light in the wavelength range may be incident.

The present invention provides a flash lidar device through a receiving mirror that reflects downward the light reflected by a reflector located on the side of the flash lidar device, and a reflective mirror that reflects the light reflected downward by the receiving mirror upward. A reflector located on the side of the device can be detected. Furthermore, according to the present invention, since the receiving mirror is provided with a receiving mirror light transmitting portion, the light reflected upward by the reflecting mirror can be transmitted to the image acquisition unit through the receiving mirror light transmitting portion. According to the present invention, there is no need to provide a separate path for light reflected upward by a reflective mirror, which makes it possible to miniaturize the flash lidar device.

In addition, the present invention can simultaneously detect a reflector located on the side and a reflector located below the flash lidar device through a receiving mirror provided with a receiving mirror light transmitting portion and a reflecting mirror provided with a reflecting mirror light transmitting portion. Furthermore, according to the present invention, since the reflective mirror is provided with a reflective mirror light-transmitting portion, the light reflected by the reflector located below the flash lidar device sequentially passes through the reflective mirror light-transmitting portion and the receiving mirror light-transmitting portion. It may be transmitted to the image acquisition unit. According to the present invention, there is no need to provide a separate path for light reflected by a reflector located below the flash lidar device, and this makes it possible to miniaturize the flash lidar device.

1 is a schematic diagram of a flash LiDAR device according to a first embodiment of the present invention.

FIG. 2 is a plan view of the light emitting unit support and receiving mirror of FIG. 1, and is a diagram showing the side light emitting unit of FIG. 1 emitting light in a predetermined wavelength band to the side of the flash lidar device.

FIG. 3 is a diagram illustrating external light entering the flash LiDAR device as a result of the lateral light emitting unit of FIG. 2 emitting light in a predetermined wavelength band to the side of the flash LiDAR device.

FIG. 4 is a diagram illustrating the downward light emitting unit of FIG. 1 emitting light in a predetermined wavelength band downward of the flash LiDAR device, and external light entering the Flash LiDAR device.

FIG. 5A is a diagram illustrating an example of a distance-based image acquired by the distance image acquisition unit of the flash LiDAR device according to FIG. 1.

FIG. 5B is a diagram illustrating an example of a shape-based image acquired by the shape image acquisition unit of the flash lidar device according to FIG. 1.

Figure 6 is a schematic diagram of a flash lidar device according to a second embodiment of the present invention.

FIG. 7 is a diagram illustrating the side light emitting unit of FIG. 6 emitting light in a predetermined wavelength band to the side of the flash LiDAR device, and external light entering the Flash LiDAR device.

FIG. 8 is a diagram illustrating the downward light emitting unit of FIG. 6 emitting light in a predetermined wavelength band downward of the flash LiDAR device, and external light entering the Flash LiDAR device.

FIG. 9 is a diagram illustrating the downward angle of view changing lens of FIG. 6 disposed below the light transmitting portion of the reflective mirror.

FIG. 10 is a diagram showing a lateral view angle changing lens and a lateral collimating lens added to the flash lidar device according to FIG. 6.

FIG. 11 is a diagram illustrating the side light emitting unit of FIG. 10 emitting light in a predetermined wavelength band to the side of the flash LiDAR device, and external light entering the Flash LiDAR device.

Hereinafter, the flash lidar device according to the present invention will be described in detail with reference to the attached drawings. The attached drawings are provided as examples in order to sufficiently convey the technical idea of the present invention to those skilled in the art, and the present invention is not limited to the drawings presented below and can be embodied in many other forms. there is. In this specification, 'proceeding directly' means proceeding straight without being reflected by any component existing on the proceeding path. Additionally, in this specification, external light is light reflected by the reflector 10 located outside the flash LiDAR device 1000, and includes light in a predetermined wavelength band and light other than the predetermined wavelength band.

Figure 1 is a schematic diagram of a flash LiDAR device (1000: 1000-1) according to a first embodiment of the present invention. FIG. 2 is a plan view of the light emitting unit support 130 and the receiving mirror 200 of FIG. 1, and the side light emitting unit 110 of FIG. 1 emits light in a predetermined wavelength band of the flash lidar device 1000-1. This is a diagram showing the emission to the side. 3 shows that the side light emitting unit 110 of FIG. 2 emits light in a predetermined wavelength band to the side of the flash LiDAR device 1000-1, and as a result, external light enters the flash LiDAR device 1000-1. This is a drawing showing what it looks like. FIG. 4 shows the downward light emitting unit 120 of FIG. 1 emitting light in a predetermined wavelength band below the flash LiDAR device 1000-1, and external light is transmitted to the flash LiDAR device 1000-1. This is a drawing showing what it looks like coming in.

As shown in Figures 1 to 4, the flash lidar device 1000-1 according to the first embodiment of the present invention includes a side light emitting unit 110, a receiving mirror 200, a reflecting mirror 300, and It may include a distance image acquisition unit 410.

The side light emitting unit 110 may be supported by the light emitting unit support 130, and as shown in FIG. 2, light in a predetermined wavelength band (for example, light belonging to the infrared wavelength band) is flashed. It is discharged to the side of the device 1000-1. In FIG. 2, the light in a predetermined wavelength band emitted by the side light emitting unit 110 is indicated by a single dotted line, but in reality, the side light emitting unit 110 emits light in a predetermined wavelength band having a specific viewing angle in three-dimensional space. emits

The side light emitting unit 110 may include only one side light emitting element 111 that emits light in a predetermined wavelength band to the side of the flash lidar device 1000-1. The side light-emitting element 111 may be made of a light emitting diode (LED) or a vertical-cavity surface-emitting laser (VCSEL). However, when the side light emitting unit 110 includes only one side light emitting element 111, the detection area on the side of the flash lidar device 1000-1 is bound to be relatively narrow. Therefore, the side light emitting unit 110 preferably includes a plurality of side light emitting elements 111 that emit light in a predetermined wavelength band to the side of the flash lidar device 1000-1.

The light emitting unit support 130 may be disposed along the outer perimeter of the receiving mirror 200 to support the side light emitting unit 110.

When the side light emitting unit 110 includes only one side light emitting element 111, the one side light emitting element 111 may be disposed on the side 133 of the light emitting unit support 130.

When the side light emitting unit 110 includes a plurality of side light emitting elements 111, the plurality of side light emitting elements 111 are arranged to be spaced apart from each other by the same angle on the side 133 of the light emitting unit support 130. It can be. As a result of the plurality of side light emitting elements 111 being disposed on the side 133 of the light emitting unit support 130, the plurality of side light emitting elements 111 are arranged along the outer circumference of the receiving mirror 200. . In FIG. 2, the number of side light emitting elements 111 is shown to be 9 (arranged at a distance of 40° from each other), but the number can be changed at any time.

When a plurality of side light emitting elements 111 are disposed along the outer circumference of the receiving mirror 200, the detection area on the side of the flash LiDAR device 1000-1 can be expanded, and the flash LiDAR device 1000-1 ) miniaturization also becomes possible.

The light emitting unit support 130 may be arranged to at least partially cover the upper outer periphery of the receiving mirror 200. More specifically, the top portion 131 of the light emitting unit support 130 may be located on the same plane as the top portion 201 of the receiving mirror 200. Alternatively, the top portion 131 of the light emitting unit support 130 may be located above or below the top portion 201 of the receiving mirror 200.

In contrast, the light emitting unit support 130 is located on the upper side of the receiving mirror 200, and covers the virtual outer perimeter of the receiving mirror 200, where the top portion 201 of the receiving mirror 200 extends upward. It may be arranged in the form of: At this time, the bottom portion 132 of the light emitting portion support 130 may be located above the top portion 201 of the receiving mirror 200.

The light emitting unit support 130 and the side light emitting unit 110 include a distance image acquisition unit 410, a shape image acquisition unit 420, a first mirror 510, a second mirror 520, and a mirror supporter 530. ), it is preferably located lower than the first lens unit 610 and the second lens unit 620. This prevents the light emitting unit support 130 and the side light emitting unit 110 from existing in the path of external light transmitted to the distance image acquiring unit 410 and the shape image acquiring unit 420, thereby preventing the image acquiring unit 410, This is to prevent a decrease in the efficiency with which 420) detects the reflector 10.

When the side light emitting unit 110 emits light in a predetermined wavelength band to the side of the flash LiDAR device 1000-1, the reflector 10 located on the side of the flash LiDAR device 1000-1 is Not only light in a predetermined wavelength band but also light outside the predetermined wavelength band can be reflected, and the light reflected by the reflector 10 enters the flash lidar device 1000-1.

The receiving mirror 200 reflects the light reflected by the reflector 10 located on the side of the flash lidar device 1000-1 downward. That is, the light reflected by the reflector 10 located on the side of the flash lidar device 1000-1 is reflected downward by the reflective surface 210 of the receiving mirror 200. At this time, the light reflected by the receiving mirror 200 (i.e., external light) includes light in a predetermined wavelength band (e.g., infrared wavelength band) emitted by the side light emitting unit 110 and then reflected by the reflector 10. light), as well as light other than the predetermined wavelength band (for example, light in the visible light wavelength band) may also be included.

The receiving mirror 200 may be designed to have a cone shape to reflect downward the light reflected by the reflector 10 located on the side of the flash lidar device 1000-1. At this time, the cone-shaped receiving mirror 200 may be symmetrical on the left and right with respect to its vertical central axis, and may have an outer diameter that gradually becomes smaller from the top to the bottom. However, the receiving mirror 200 may be designed in various shapes depending on the angle of view of the light in a predetermined wavelength band emitted by the side light emitting unit 110. The reflective surface 210 of the receiving mirror 200 may be designed to have a preset design function to reflect downward the light reflected by the reflector 10 located on the side of the flash lidar device 1000-1. there is. Additionally, the receiving mirror 200 may be configured as a dichroic mirror depending on the case.

The reflecting mirror 300 is located below the receiving mirror 200 and reflects light reflected downward by the receiving mirror 200 upward. That is, the light reflected downward by the receiving mirror 200 is reflected upward by the reflecting surface 310 of the reflecting mirror 300. The reason why the reflective mirror 300 reflects the light upward is that the light reflected by the reflector 10 located on the side of the flash lidar device 1000-1 can be detected on the upper side of the receiving mirror 200. This is to ensure that

The reflective mirror 300 is preferably designed to have a planar shape in order to reflect the light reflected downward by the receiving mirror 200 upward. However, in addition to the flat shape, the reflecting mirror 300 may be designed into various shapes depending on the angle of view of light in a predetermined wavelength band emitted by the side light emitting unit 110 or the design function of the reflecting surface 210 of the receiving mirror 200. You can. Additionally, the reflective mirror 300 may be configured as a dichroic mirror depending on the case.

The receiving mirror 200 may be provided with a receiving mirror light transmitting portion 220. The reason why the receiving mirror light transmitting unit 220 is provided in the receiving mirror 200 is that the light reflected by the reflector 10 located on the side and below the flash lidar device 1000-1 is transmitted through the receiving mirror light transmitting unit ( This is to allow the light to be detected on the upper side of the receiving mirror 200 by transmitting it through 220).

The receiving mirror light transmitting portion 220 may be provided at approximately the center of the receiving mirror 200 and may be a through hole penetrating the receiving mirror 200. Alternatively, the receiving mirror light transmitting portion 220 may be a portion of the glass in which a mirror coating is not applied, unlike the reflective surface 210 in which the glass is coated with a mirror coating.

The light reflected upward by the reflective mirror 300 passes through the receiving mirror light transmitting part 220 and proceeds toward the upper side of the receiving mirror 200.

A first mirror 510 and a second mirror 520 supported by a mirror supporter 530 may be located above the receiving mirror 200.

The first mirror 510 is located above the receiving mirror 200, and among the light reflected upward by the reflecting mirror 300 and then passing through the receiving mirror light transmitting part 220, the light in the predetermined wavelength band is It reflects and transmits light outside the predetermined wavelength band. For this purpose, the first mirror 510 may be composed of a dichroic mirror or an integrated dichroic prism.

The second mirror 520 is located above the receiving mirror 200, and among the light reflected upward by the reflecting mirror 300 and then passing through the receiving mirror light transmitting part 220, the light in the predetermined wavelength band is It transmits and reflects light outside the predetermined wavelength band. To this end, the second mirror 510 may also be composed of a dichroic mirror or an integrated dichroic prism.

As shown in FIG. 1, etc., the first mirror 510 and the second mirror 520 may be arranged in an intersecting form, but unlike this, the first mirror 510 and the second mirror 520 are aligned with each other in the vertical direction. They may be placed in different places so that they do not intersect with each other.

The light in the predetermined wavelength band reflected by the first mirror 510 is transmitted to the distance image acquisition unit 410, and the light outside the predetermined wavelength band reflected by the second mirror 520 is transmitted to the shape image acquisition unit. It is sent to (420).

The first lens unit 610 is disposed between the first mirror 510 and the distance image acquisition unit 410, and focuses the light in a predetermined wavelength band reflected by the first mirror 510 to form a distance image acquisition unit ( 410). In addition, the second lens unit 620 is disposed between the second mirror 520 and the shape image acquisition unit 420, and focuses light outside a predetermined wavelength band reflected by the second mirror 520 to produce a shape image. It serves to transmit it to the acquisition unit 420.

The distance image acquisition unit 410 is located above the receiving mirror 200, and among the light reflected upward by the reflecting mirror 300 and then passing through the receiving mirror light transmitting unit 220, light in the predetermined wavelength band is selected. By detecting, an image is acquired based on the distance of the reflector 10 located on the side of the flash lidar device 1000-1. The distance image acquisition unit 410 may be composed of a 2D TOF (time of flight) sensor for measuring distance, or may be composed of a two-dimensional array of single light receiving elements (e.g., photodiodes, avalanche photodiodes, etc.). You can. The distance image acquisition unit 410 can determine the distance from the flash lidar device 1000-1 to the reflector 10 located on the side through an image based on the distance of the reflector 10 located on the side. there is.

The shape image acquisition unit 420 is located above the receiving mirror 200, and among the light reflected upward by the reflecting mirror 300 and then passing through the receiving mirror light transmitting unit 220, only the light other than the predetermined wavelength band is detected. By detecting light, an image is acquired based on the shape of the reflector 10 located on the side of the flash lidar device 1000-1. The shape image acquisition unit 420 may be composed of an image sensor (e.g., CCD, RGB-IR, etc.), and may be configured to obtain an image based on the shape of the reflector 10 located on the side. The shape of (10) can be identified.

Meanwhile, the flash LiDAR device 1000-1 according to the first embodiment of the present invention may additionally include a downward light emitting unit 120. The downward light emitting unit 120 may be supported by the light emitting unit support 130 and, as shown in FIG. 4, emits light in a predetermined wavelength band downward of the flash lidar device 1000-1.

The wavelength band of light emitted by the downward light emitting unit 120 may be the same as the wavelength band of light emitted by the side light emitting unit 110. In FIG. 4, the light in a predetermined wavelength band emitted by the downward light emitting unit 120 is indicated by a single dotted line, but in reality, the downward light emitting unit 120 emits light in a predetermined wavelength band with a specific viewing angle in three-dimensional space. emits

According to the first embodiment of the present invention, the downward light emitting unit 120 is located at a certain distance laterally from the receiving mirror 200, and the light in a predetermined wavelength band emitted from the downward light emitting unit 120 is It proceeds directly below the flash LiDAR device 1000-1 without being incident on the receiving mirror 200 and the reflecting mirror 300. In this case, since there is no or very little possibility that light in a predetermined wavelength band emitted from the downward light emitting unit 120 is incident on the inner surface of the receiving mirror 200, the

image acquisition units

410 and 420 use a flash lidar device ( It is possible to prevent a decrease in efficiency in detecting the reflector 10 located below 1000-1).

The downward light emitting unit 120 may include only one downward light emitting element 121 that emits light in a predetermined wavelength band downward of the flash lidar device 1000-1, and the downward light emitting element 121 is It can be made of LED or VCSEL. However, when the downward light emitting unit 120 includes only one downward light emitting element 121, the detection area downward of the flash lidar device 1000-1 is bound to be relatively narrow. Therefore, the downward light emitting unit 120 preferably includes a plurality of downward light emitting elements 121 that emit light in a predetermined wavelength band downward of the flash lidar device 1000-1.

When the downward light emitting unit 120 includes only one downward light emitting element 121, the one downward light emitting element 121 may be disposed on the bottom 132 of the light emitting unit support 130.

When the downward light emitting unit 120 includes a plurality of downward light emitting elements 121, the plurality of downward light emitting elements 121 are disposed at the bottom 132 of the light emitting unit support 130 and spaced apart from each other by the same angle. It can be. As a result of the plurality of downward light-emitting elements 121 being disposed on the bottom 132 of the light emitting unit support 130, the plurality of downward light-emitting elements 121 are arranged along the outer circumference of the receiving mirror 200. . In FIG. 2, the number of downward light-emitting elements 121 is shown as two (arranged 180° apart from each other), but the number can be changed at any time.

The downward light emitting unit 120 may be located below or above the top portion 201 of the receiving mirror 200, and may be located on the same plane as the top portion 201 of the receiving mirror 200, if necessary.

Light in a predetermined wavelength band emitted from the downward light emitting unit 120 travels directly downward to the flash LiDAR device 1000-1, and flash LiDAR device 1000-1 as shown in FIG. 4. If a reflector 10 exists below , the reflector 10 reflects light in the predetermined wavelength band upward.

The reflective mirror 300 may be provided with a reflective mirror light transmitting portion 320. The reason why the reflective mirror light transmitting portion 320 is provided in the reflective mirror 300 is that the light reflected upward by the reflector 10 located below the flash lidar device 1000-1 is transmitted through the reflective mirror light transmitting portion ( This is to allow the light to be detected on the upper side of the receiving mirror 200 by transmitting it through 320).

The reflective mirror light transmitting portion 320 may be provided at approximately the center of the reflective mirror 300 and may be a through hole penetrating the reflective mirror 300. Alternatively, the reflective mirror light transmitting portion 320 may be a portion of the glass in which a mirror coating is not applied, unlike the reflective surface 310 in which the glass is coated with a mirror coating.

The light reflected upward by the reflector 10 located below the flash lidar device 1000-1 sequentially passes through the reflection mirror light transmitting portion 320 and the receiving mirror light transmitting portion 220 and receives the receiving mirror 200. ) proceeds to the upper side.

At this time, the first mirror 510 is reflected upward by the reflector 10 located below the flash lidar device 1000-1, and then passes through the reflection mirror light transmitting portion 320 and the receiving mirror light transmitting portion 220. Among the lights that sequentially transmit, light in the predetermined wavelength band is reflected, and light outside the predetermined wavelength band is transmitted.

In addition, the second mirror 520 is reflected upward by the reflector 10 located below the flash lidar device 1000-1, and then is sent to the reflection mirror light transmitting portion 320 and the receiving mirror light transmitting portion 220. Among the lights that sequentially transmit, light in the predetermined wavelength band transmits, and light outside the predetermined wavelength band serves to reflect.

Light in a predetermined wavelength band reflected by the first mirror 510 may be focused by the first lens unit 610 and then transmitted to the distance image acquisition unit 410, and reflected by the second mirror 520. Light outside the predetermined wavelength band may be focused by the second lens unit 620 and then transmitted to the shape image acquisition unit 420.

The distance image acquisition unit 410 is reflected upward by the reflector 10 located below the flash lidar device 1000-1, and then is transmitted to the reflection mirror light transmitting unit 320 and the receiving mirror light transmitting unit 220. Among the lights that sequentially transmit, light in the predetermined wavelength band is additionally detected to obtain an image based on the distance of the reflector 10 located below. At this time, the distance image acquisition unit 410 determines the distance from the flash lidar device 1000-1 to the reflector 10 located below through an image based on the distance of the reflector 10 located below. You can.

The shape image acquisition unit 420 is reflected upward by the reflector 10 located below the flash lidar device 1000-1, and then is transmitted through the reflection mirror light transmission unit 320 and the receiving mirror light transmission unit 220. Among the lights that sequentially transmit, light outside the predetermined wavelength band is additionally detected to obtain an image based on the shape of the reflector 10 located below. At this time, the shape image acquisition unit 420 may determine the shape of the reflector 10 located below through an image based on the shape of the reflector 10 located below.

FIG. 5A is a diagram illustrating a distance-based image acquired by the distance image acquisition unit 410 of the flash LiDAR device 1000-1 according to FIG. 1.

Specifically, the “A” area in FIG. 5A is an area where an image is acquired based on the distance of the reflector 10 located below the flash LiDAR device 1000-1, and the “B” area is the flash LiDAR device ( This is an area where an image is acquired based on the distance of the reflector 10 located on the side of 1000-1, and the “C” area is an area where no image is acquired because it is outside the angle of view of the

light emitting units

110 and 120. am. According to FIG. 5A, it can be seen that only one distance image acquisition unit 410 can simultaneously detect the distance of the reflector 10 located on the side and below the flash LiDAR device 1000-1.

FIG. 5B is a diagram illustrating a shape-based image acquired by the shape image acquisition unit 420 of the flash lidar device 1000-1 according to FIG. 1.

Specifically, the "A" area in Figure 5b is an area where an image based on the shape of the reflector 10 located below the flash LiDAR device 1000-1 is acquired, and the "B" area is the flash LiDAR device ( This is an area where an image is acquired based on the shape of the reflector 10 located on the side of 1000-1, and the “C” area is an area where no image is acquired because it is outside the angle of view of the

light emitting units

110 and 120. am. According to FIG. 5B, it can be seen that the shape of the reflector 10 located on the side and below the flash lidar device 1000-1 can be simultaneously detected with only one shape image acquisition unit 420.

In this way, according to the flash lidar device 1000-1 according to the first embodiment of the present invention, an image based on the distance of the reflector 10 and an image based on the shape of the reflector 10 can be detected simultaneously, Based on the simultaneously detected images, it can be used for 3D modeling based on real images.

Furthermore, because the “A” area in FIG. 5A and the “A” area in FIG. 5B are areas corresponding to the area where light is transmitted in the conventional LIDAR device, the

image acquisition units

410 and 420 cannot acquire any image. It corresponds to a shaded area that cannot be used. On the other hand, the flash LiDAR device 1000-1 according to the present invention includes components such as a receiving mirror 200 provided with a receiving mirror light transmitting portion 220 and a reflecting mirror 300 provided with a reflecting mirror light transmitting portion 320. As provided, the “A” area in FIG. 5A is utilized as an image acquisition area based on the distance of the reflector 10 located below the flash LIDAR device 1000-1, and the “A” area in FIG. 5B is used as an image acquisition area. It is used as an image acquisition area based on the shape of the reflector 10 located below the flash lidar device 1000-1.

According to the present invention, it is sufficient to have only one distance image acquisition unit 410 to simultaneously detect the distance of the reflector 10 located on the side and below the flash LiDAR device 1000-1, and the flash LIDAR device 1000-1 In order to simultaneously detect the shape of the reflector 10 located on the side and below the device 1000-1, it is sufficient to have only one shape image acquisition unit 420. Therefore, according to the present invention, miniaturization of the flash LiDAR device 1000-1 is possible, and the manufacturing cost of the device can also be reduced.

Meanwhile, Figure 6 is a schematic diagram of a flash lidar device (1000: 1000-2) according to a second embodiment of the present invention. FIG. 7 shows the side light emitting unit 110 of FIG. 6 emitting light in a predetermined wavelength band to the side of the flash LiDAR device 1000-2, and external light is transmitted to the flash LiDAR device 1000-2. This is a drawing showing what it looks like coming in. FIG. 8 shows the downward light emitting unit 120 of FIG. 6 emitting light in a predetermined wavelength band below the flash LiDAR device 1000-2, and external light is transmitted to the flash LiDAR device 1000-2. This is a drawing showing what it looks like coming in. FIG. 9 is a diagram illustrating the downward angle of view changing lens 700 of FIG. 6 disposed below the reflective mirror light transmitting portion 320.

Compared to the flash LiDAR device 1000-1 according to the first embodiment of the present invention, the flash LiDAR device 1000-2 according to the second embodiment of the present invention includes detailed components of the side light emitting unit 110 and There is a difference in the detailed components of the downward light emitting unit 120, and the only difference is that a downward angle of view changing lens 700 is added. Therefore, the following will mainly explain the differences.

The side light emitting unit 110 according to the second embodiment of the present invention may include a light emitting element 112 and a path changing mirror 113.

The light emitting element 112 emits light in a predetermined wavelength band below the flash lidar device 1000-2. The path conversion mirror 113 reflects light in a predetermined wavelength band emitted from the light emitting element 112 and converts the optical path in the predetermined wavelength band to the side of the flash lidar device 1000-2.

The light emitting element 112 and the path conversion mirror 113 cause interference between the optical path of a predetermined wavelength band emitted downward from the flash lidar device 1000-2 and the optical path entering the flash lidar device 1000-2. It is desirable to be located in a place where there is no or very little risk of this happening. Accordingly, the light emitting element 112 and the path change mirror 113 are located between the receiving mirror 200 and the

image acquisition units

410 and 420, or are located above the

image acquisition units

410 and 420. desirable.

The light emitting element 112 may be made of LED or VCSEL.

The path conversion mirror 113 may be designed in a cone shape to convert the optical path of a predetermined wavelength band emitted from the light emitting element 112 to the side of the flash lidar device 1000-2. At this time, the cone-shaped path conversion mirror 113 may be symmetrical on the left and right sides with respect to its vertical central axis, and may have an outer diameter that gradually increases from the top to the bottom. However, in addition to the cone shape, the path change mirror 113 may be designed into various shapes depending on the angle of view of light in a predetermined wavelength band emitted by the light emitting element 112.

The path change mirror 113 may be provided with a concave reflective surface 113-1, and at this time, light in a predetermined wavelength band emitted from the light emitting element 112 is reflected in the concave reflective surface 113-1 of the path change mirror 113. ) will join the company. When the path conversion mirror 113 is provided with a concave reflective surface 113-1, the light path in a predetermined wavelength band emitted from the light emitting element 112 is converted laterally, and the angle of view of the light in the predetermined wavelength band is expanded. do. As a result, it is possible to expand the detection range of the reflector 10 located on the side of the flash lidar device 1000-2.

As in the second embodiment of the present invention, when the optical path of a predetermined wavelength band is converted to the side of the flash LiDAR device 1000-2 through the path conversion mirror 113, the flash LiDAR device 1000-2 The number of light emitting elements 112 required to detect the reflector 10 located on the side can be significantly reduced. For example, if the path conversion mirror 113 is designed in a cone shape, light in a predetermined wavelength band emitted from the light emitting element 112 is transmitted over the entire horizontal region (i.e., 360° range) by the path conversion mirror 113. The path is converted to and transmitted to the side of the flash lidar device (1000-2). Therefore, according to the second embodiment of the present invention, there is no need to provide a plurality of side light emitting elements 111 disposed along the outer circumference of the receiving mirror 200 as in the first embodiment.

In addition, since the light in a predetermined wavelength band whose path has been converted by the path conversion mirror 113 is transmitted to the side of the flash LiDAR device 1000-2 with a specific viewing angle, the light of the flash LiDAR device 1000-2 There is no need to adopt a separate component to adjust the angle of view of light in a predetermined wavelength band transmitted laterally. According to the present invention, the flash LiDAR device 1000-2 can be miniaturized, and the manufacturing cost of the device can also be reduced.

FIG. 10 is a diagram showing a lateral view angle changing lens 114 and a lateral collimating lens 115 added to the flash lidar device 1000-2 according to FIG. 6. And FIG. 11 shows the side light emitting unit 110 of FIG. 10 emitting light in a predetermined wavelength band to the side of the flash LiDAR device 1000-2, and external light is transmitted to the flash LiDAR device 1000-2. This is a drawing showing what it looks like coming into.

The lateral light emitting unit 110 according to the second embodiment of the present invention may further include a lateral angle of view changing lens 114 as shown in FIGS. 10 and 11 . Here, the lateral angle of view change lens 114 may be made of a convex lens, a concave lens, or a combination of a convex lens and a concave lens.

As shown in FIG. 11, light in a predetermined wavelength band whose path has been converted by the path conversion mirror 113 may be incident on the lateral angle of view change lens 114. At this time, the path change mirror 113 may be provided with a flat reflection surface 113-2. When the path conversion mirror 113 is provided with a flat reflective surface 113-2, the light path in a predetermined wavelength band emitted from the light emitting element 112 is converted laterally, but the angle of view of the light in the predetermined wavelength band is not changed. or the extent of change is relatively small. In contrast, in the example of FIG. 11, the path change mirror 113 may be provided with a concave reflective surface 113-1 as described above, and in this case, the angle of view of light in the predetermined wavelength band is expanded to a relatively large extent. do.

The lateral angle of view change lens 114 changes (i.e. expands or reduces) the angle of view of light in a predetermined wavelength band whose path has been converted by the path change mirror 113. For example, when the lateral angle of view change lens 114 expands the angle of view of light in a predetermined wavelength band whose path has been converted by the path conversion mirror 113, the detection area on the side of the flash lidar device 1000-2 It can be expanded further. On the other hand, when the lateral view angle change lens 114 reduces the view angle of light in a predetermined wavelength band whose path has been changed by the path change mirror 113, the reflector 10 located on the side of the flash lidar device 1000-2 ) can be detected more precisely.

In order to change the angle of view of light in a predetermined wavelength band that is path-converted to the entire horizontal region by the path conversion mirror 113, a plurality of lateral angle-of-view change lenses 114 are installed in the horizontal direction (i.e., based on the path conversion mirror 113). It can be arranged around in a direction perpendicular to the vertical direction shown in FIG. 11. At this time, the plurality of lateral view angle change lenses 114 may be spaced apart from each other by the same angle.

Alternatively, in order to change the angle of view of light in a predetermined wavelength band that is path-converted to the entire horizontal region by the path change mirror 113, the lateral view angle change lens 114 may be designed in a donut shape. At this time, it is preferable that the path conversion mirror 113 is located at the center of the donut-shaped lateral angle of view change lens 114. When light in a predetermined wavelength band whose path is changed by the path conversion mirror 113 is incident on the donut-shaped lateral angle of view changing lens 114, the angle of view of the light in the predetermined wavelength band is changed to the entire horizontal range.

Meanwhile, when light in a predetermined wavelength band whose path has been changed by the path conversion mirror 113 is incident on the inner surface of the receiving mirror 200, light in the predetermined wavelength band reflected from the inner surface of the receiving mirror 200 When transmitted to the

image acquisition units

410 and 420, the efficiency with which the

image acquisition units

410 and 420 detect the reflector 10 may be reduced. Accordingly, it is desirable to arrange the lateral collemating lens 115 below the light emitting element 112. The lateral collemating lens 115 serves to convert light in a predetermined wavelength band emitted downward from the light emitting element 112 into parallel light, and accordingly, the lateral angle of view change lens 114 includes a lateral collemating lens 115. Light of a certain wavelength band converted into parallel light is incident.

According to this lateral collemating lens 115, light in a predetermined wavelength band emitted downward by the light emitting element 112 is path converted by the path conversion mirror 113 and then is transmitted to the side of the flash lidar device 1000-2. In the process of being transmitted, it is possible to reliably prevent the path-converted light in the predetermined wavelength band from incident on the inner surface of the receiving mirror 200. As a result, it is possible to prevent a decrease in the efficiency of the

image acquisition units

410 and 420 in detecting the reflector 10.

The flash LiDAR device 1000-2 according to the second embodiment of the present invention may also additionally include a downward light emitting unit 120 that emits light in a predetermined wavelength band downward from the Flash LiDAR device 1000-2. (see Figures 8 and 9). Here, the downward light emitting unit 120 is located above the receiving mirror 200, and light in a predetermined wavelength band emitted from the downward light emitting unit 120 is directly directed downward to the flash lidar device 1000-2. Proceeds to and passes through the receiving mirror light transmitting unit 220 and the reflecting mirror light transmitting unit 320.

According to the second embodiment in which the downward light emitting unit 120 is located above the receiving mirror 200, the downward light emitting unit 120 is located at a certain distance laterally from the receiving mirror 200. Compared to the first embodiment, the width of the flash LiDAR device 1000-2 can be reduced.

Although the downward light emitting unit 120 emits light in a predetermined wavelength band with a specific viewing angle in three-dimensional space, the light in the predetermined wavelength band is incident on the inner surface of the receiving mirror 200 or reflected mirror 300. ), the detection efficiency of the reflector 10 of the

image acquisition units

410 and 420 may be reduced. Therefore, the angle of view of light in a predetermined wavelength band emitted downward by the downward light emitting unit 120 needs to be designed to be relatively narrow.

The flash lidar device 1000-2 according to the second embodiment may further include a downward angle of view change lens 700. Here, the downward angle of view change lens 700 may be made of a convex lens, a concave lens, or a combination of a convex lens and a concave lens.

As shown in FIGS. 8 and 9, light in a predetermined wavelength band emitted downward from the downward light emitting unit 120 may be incident on the downward angle of view changing lens 700. In this case, the downward angle of view changing lens 700 Can change (i.e. expand or reduce) the angle of view of light in the predetermined wavelength band. When the downward angle of view change lens 700 expands the angle of view of light in a predetermined wavelength band emitted downward from the downward light emitting unit 120, the downward detection area of the flash lidar device 1000-2 can be further expanded. There will be. On the other hand, when the downward angle of view change lens 700 reduces the angle of view of light in a predetermined wavelength band emitted downward from the downward light emitting unit 120, a reflector located below the flash lidar device 1000-2 ( 10) can be detected more precisely.

As described above, when light in a predetermined wavelength band emitted by the downward light emitting unit 120 is incident on the inner surface of the receiving mirror 200 or on the reflecting surface 310 of the reflecting mirror 300, The detection efficiency of the reflector 10 of the

image acquisition units

410 and 420 may decrease. Therefore, the downward angle of view change lens 700 is preferably disposed within the reflective mirror light transmitting portion 320 as shown in FIG. 8 or disposed below the reflective mirror light transmitting portion 320 as shown in FIG. 9 . Here, it is more preferable that the downward angle of view changing lens 700 is disposed within the reflective mirror light transmitting portion 320 rather than disposed below the reflective mirror light transmitting portion 320. This means that when the downward angle of view change lens 700 is disposed within the reflective mirror light transmitting portion 320, the height of the flash lidar device 1000-2 is reduced compared to the case where the downward viewing angle changing lens 700 is disposed below the reflective mirror light transmitting portion 320. Because it is more advantageous to order.

The downward light emitting unit 120 may include a downward light emitting element 121 and a downward collemating lens 125.

The downward light-emitting element 121 emits light in a predetermined wavelength band downward from the flash lidar device 1000-2, and may be made of LED or VCSEL.

Even if the downward light-emitting element 121 is designed to have a relatively narrow angle of view for light in a predetermined wavelength band emitted downward from the flash lidar device 1000-2, the limit of the angle of view of the downward light-emitting element 121, the downward light-emitting element ( Depending on the arrangement of 121, the size of the receiving mirror light transmitting portion 220, or the size of the reflecting mirror light transmitting portion 320, light in the predetermined wavelength band is incident on the inner surface of the receiving mirror 200 or reflected mirror 300. ) may be incident on the reflecting surface 310.

Accordingly, it is desirable to arrange the downward collemating lens 125 below the downward light emitting element 121. The downward collemating lens 125 serves to convert light in a predetermined wavelength band emitted downward from the downward light emitting element 121 into parallel light. At this time, the downward angle of view change lens 700 includes a downward collemating lens 125. Light of a certain wavelength band converted into parallel light is incident. According to this downward collemating lens 125, light in a predetermined wavelength band emitted by the downward light emitting unit 120 is incident on the inner surface of the receiving mirror 200 or is transmitted to the reflecting surface 310 of the reflecting mirror 300. ) can be more reliably prevented, and thus a decrease in the efficiency of the

image acquisition units

410 and 420 in detecting the reflector 10 can be prevented in advance.

As described above, although the present invention has been described using limited embodiments and drawings, the present invention is not limited to the above embodiments, and various modifications and variations can be made from these descriptions by those skilled in the art. This is possible. Therefore, the technical idea of the present invention should be understood only by the claims, and all equivalent or equivalent modifications thereof shall fall within the scope of the technical idea of the present invention.

The relevant content has been described in the best form for carrying out the above-described invention.

The present invention can be used in a flash lidar device that detects an external reflector using light emitted from a light emitting unit.

Claims

As a flash lidar device,

a side light emitting unit that emits light in a predetermined wavelength band to the side of the flash lidar device;

a receiving mirror that reflects light reflected by a reflector located on a side of the flash lidar device downward;

a reflective mirror located below the receiving mirror and reflecting light reflected downward by the receiving mirror upward; and

It includes a distance image acquisition unit located above the receiving mirror,

The receiving mirror is provided with a receiving mirror light transmitting portion,

The light reflected upward by the reflective mirror passes through the receiving mirror light transmitting part,

The distance image acquisition unit is located above the receiving mirror, detects light in the predetermined wavelength band among the light reflected upward by the reflecting mirror and then passing through the receiving mirror light transmitting unit, and is located on the side. A flash LiDAR device characterized in that it acquires an image based on the distance of the reflector.
According to paragraph 1,

The flash lidar device,

A device that is located above the receiving mirror and reflects upwardly by the reflecting mirror and then transmits the receiving mirror light transmitting part, reflects light in the predetermined wavelength band and transmits light outside the predetermined wavelength band. 1 more mirror,

A flash lidar device, characterized in that light in a predetermined wavelength band reflected by the first mirror is transmitted to the distance image acquisition unit.
According to paragraph 1,

The flash lidar device,

Among the light located above the receiving mirror, reflected upward by the reflecting mirror and then passing through the receiving mirror light transmitting part, light outside the predetermined wavelength band is detected, and the shape of the reflector located on the side is detected. A flash LIDAR device further comprising a shape image acquisition unit that acquires an image based on the shape.
According to paragraph 3,

The flash lidar device,

Located above the receiving mirror, among the light reflected upward by the reflecting mirror and then passing through the receiving mirror light transmitting part, light in the predetermined wavelength band is transmitted and light outside the predetermined wavelength band is reflected. Contains 2 more mirrors,

A flash lidar device, characterized in that light outside the predetermined wavelength band reflected by the second mirror is transmitted to the shape image acquisition unit.
According to paragraph 1,

The lateral light emitting unit,

It includes a plurality of side light-emitting elements that emit light in the predetermined wavelength band to the side of the flash lidar device,

The flash lidar device is characterized in that the plurality of side light emitting elements are arranged along the outer circumference of the receiving mirror.
According to paragraph 1,

The flash lidar device,

It further includes a downward light emitting unit that emits light in the predetermined wavelength band downward from the flash lidar device,

The reflective mirror is provided with a reflective mirror light transmitting portion,

The light reflected by the reflector located below the flash lidar device passes through the reflection mirror light transmitting part and the receiving mirror light transmitting part,

The distance image acquisition unit additionally detects light in the predetermined wavelength band among the light that is reflected by a reflector located below the flash lidar device and then passes through the reflective mirror light transmitting unit and the receiving mirror light transmitting unit, A flash lidar device characterized in that it acquires an image based on the distance of the reflector located below.
According to clause 6,

The flash lidar device,

Among the light reflected by a reflector located below the flash lidar device and then passing through the reflection mirror light transmitting unit and the receiving mirror light transmitting unit, light outside the predetermined wavelength band is additionally detected and a reflector located below the flash lidar device is used. A flash LIDAR device further comprising a shape image acquisition unit that acquires an image based on the shape of.
According to clause 6,

The downward light emitting unit is located at a certain distance laterally from the receiving mirror,

A flash lidar device, characterized in that light in a predetermined wavelength band emitted from the downward light emitting unit proceeds directly downward of the flash lidar device without being incident on the receiving mirror and the reflecting mirror.
According to paragraph 1,

The lateral light emitting unit,

a light emitting element that emits light in the predetermined wavelength band downward from the flash lidar device; and

A flash LiDAR device comprising a path conversion mirror that reflects a predetermined wavelength band emitted from the light emitting element and converts an optical path in the predetermined wavelength band to a side of the flash LiDAR device.
According to clause 9,

The path changing mirror is provided with a concave reflective surface,

A flash lidar device, characterized in that light in a predetermined wavelength band emitted from the light emitting element is incident on the concave reflective surface of the path conversion mirror.
According to clause 9,

The lateral light emitting unit,

A flash lidar device further comprising a lateral angle of view change lens that changes the angle of view of light in a predetermined wavelength band path converted by the path change mirror.
According to clause 11,

The lateral light emitting unit,

It further includes a lateral collemating lens that converts light in a predetermined wavelength band emitted downward from the light emitting element into parallel light,

A flash lidar device, wherein light in a predetermined wavelength band converted into parallel light by the lateral collemating lens is incident on the lateral angle of view changing lens.
According to clause 6,

The downward light emitting unit is located above the receiving mirror,

A flash lidar device, characterized in that light in a predetermined wavelength band emitted from the downward light emitting unit travels directly downward of the flash lidar device and passes through the receiving mirror light transmitting unit and the reflecting mirror light transmitting unit.
According to clause 13,

The flash lidar device,

A flash lidar device further comprising a downward angle of view changing lens that changes the angle of view of light in a predetermined wavelength band emitted downward from the downward light emitting unit.
According to clause 14,

The downward angle of view changing lens is a flash lidar device, characterized in that disposed within the reflective mirror light transmitting portion or below the reflective mirror light transmitting portion.
According to clause 14,

The downward light emitting unit,

a downward light-emitting element that emits light in the predetermined wavelength band downward from the flash lidar device; and

It includes a downward collemating lens that converts light in a predetermined wavelength band emitted downward from the downward light-emitting element into parallel light,

A flash lidar device, wherein light in a predetermined wavelength band converted into parallel light by the downward collemating lens is incident on the downward angle of view changing lens.